control_allocator: add support for Tailsitter VTOL

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy

@@ -9,7 +9,7 @@
 param set-default CBRK_AIRSPD_CHK 162128
 
 param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 6
+param set-default CA_AIRFRAME 7
 
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_R_REV 255

ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane

@@ -44,7 +44,7 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 
 #param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 5
+param set-default CA_AIRFRAME 1
 
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3

ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol

@@ -8,7 +8,7 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 #param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 1
+param set-default CA_AIRFRAME 2
 
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.1515

ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter

@@ -7,14 +7,47 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
+# param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 4
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 2
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TYPE 9
+param set-default CA_SV_CS0_TRQ_P -1
+param set-default CA_SV_CS0_TRQ_Y -1
+param set-default CA_SV_CS1_TYPE 10
+param set-default CA_SV_CS1_TRQ_P -1
+param set-default CA_SV_CS1_TRQ_Y 1
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 0
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+
 param set-default FW_L1_PERIOD 12
 param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_I 0.2
-param set-default FW_PR_P 0.3
+param set-default FW_PR_P 0.2
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
-param set-default FW_RR_P 0.3
+param set-default FW_RR_P 0.2
 param set-default FW_THR_CRUISE 0.33
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
@@ -36,6 +69,8 @@ param set-default MPC_XY_VEL_D_ACC 0.1
 param set-default NAV_ACC_RAD 5
 param set-default NAV_LOITER_RAD 80
 
+param set-default VT_FW_DIFTHR_EN 1
+param set-default VT_FW_DIFTHR_SC 0.5
 param set-default VT_F_TRANS_DUR 1.5
 param set-default VT_F_TRANS_THR 0.7
 param set-default VT_TYPE 0

ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor

@@ -7,8 +7,8 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-#param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 2
+# param set-default SYS_CTRL_ALLOC 1
+param set-default CA_AIRFRAME 3
 
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.1515

ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover

@@ -29,7 +29,7 @@ param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0
 
 param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 3
+param set-default CA_AIRFRAME 5
 
 param set-default CA_R_REV 1
 param set-default PWM_MAIN_FUNC1 201

ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover

@@ -29,7 +29,7 @@ param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0
 
 param set-default SYS_CTRL_ALLOC 1
-param set-default CA_AIRFRAME 4
+param set-default CA_AIRFRAME 6
 
 param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101